uint8 FREE=0
uint8 DOCKING=1
uint8 ROTATING=2
uint8 SUCCEED=3
uint8 CANCELED=4
uint8 ERROR=255
uint8 IN=0
uint8 OUT=1
geometry_msgs/Pose start_ptn
geometry_msgs/Pose end_ptn
uint8 type
bool ab_door
uint8 dock_state